Dissertation Information for Rodney Glen RobertsNAME:
DEGREE:
DISCIPLINE:
SCHOOL: ADVISORS: COMMITTEE MEMBERS: MPACT Status: Incomplete - Not_Inspected Title: The design of repeatable control strategies for kinematically redundant manipulators
Abstract: "A kinematically redundant manipulator is a robotic system which possesses more degrees of freedom than are required to perform its specified task. Due to this extra freedom, kinematically redundant manipulators offer significant advantages over traditional non-redundant manipulators, including greater dexterity and the potential for obstacle and singularity avoidance. However, under certain control strategies, a kinematically redundant manipulator may not be repeatable when performing a cyclic task. A control strategy is said to be repeatable if the manipulator returns to its initial configuration when the end effector traces a closed path in the workspace. This is a particularly important property for a manipulator to have when performing a cyclic task since the manipulator's behavior would otherwise be difficult to predict without prior analysis. |
MPACT Scores for Rodney Glen RobertsA = 0 Advisors and Advisees Graphgenerating graph, please reload |
Students under Rodney Glen Roberts
ADVISEES:
- None
COMMITTEESHIPS:
- Jong-Ae Kim - Florida State University (2005)
- Ruth A. Hodges - Florida State University (2006)